Method and apparatus for precise positioning of large structures

• US 6,934,629 B1
• Filed: 03/26/1998
• Issued: 08/23/2005
• Est. Priority Date: 07/08/1996
• Status: Expired due to Fees

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: O'Meagher, Brent, Monnox, Alan, Chisholm, Gary Sedman, Hansby, Michael
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/049,161
• Time in Patent Office: 2,707 Days
• Field of Search: 701/213, 701/215, 701/221, 701/220, 701/208, 701/212, 340/988, 340/989, 340/436, 342/357.01, 342/357.12
• US Class Current: 701/213
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

A three dimensional structure is precisely positioned at a desired location. A viral model of the structure of interest is created and stored in a computer memory. Some time later, remote sensors are placed in selected positions on the structure of interest. The sensors are configured so as to provide real time location, attitude and orientation information regarding the structure and may consist of GPS remote units, tilt meters, gyro compasses, and pressure sensor. The position of each the remote sensors on the actual structure is also recorded in the computer memory so that the virtual model accurately reflects the configuration of the structure. As the structure is being positioned, the real-time location, attitude and orientation information produced by the remote sensors is monitored at a base station and used to update the virtual model. In this way, the virtual model accurately reflects the current location, attitude and orientation of the structure. The information so obtained can be displayed to a user as a graphical and textual representation of the current state of the structure. The desired location, attitude and orientation of the structure is also displayed, thereby allowing a user to adjust the current location, attitude and orientation of the structure so as to align the current position of the structure to desired position. As built reports are produced upon completion of the positioning operation.

Claims

1. A precise positioning apparatus comprising:

a system bus;

a GPS receiver configured to communicate with the system bus, the GPS receiver generating position information regarding a position of a structure associated with the GPS receiver;

a memory configured to communicate with the system bus;

a display configured to communicate with the system bus;

a microprocessor configured to communicate with the system bus, the microprocessor configured to receive the position information from the GPS receiver and configured to generate display information based on the position information, the display information comprising guidance and orientation information, the microprocessor configured to transmit the display information to the display,

wherein the display information is displayed on the display such that a user is provided with a visual graphical representation of a present position, orientation and attitude of the structure and a desired position, orientation and attitude of the structure.

2. A precise positioning apparatus as in claim 1 further comprising a communication system, the communication system coupled to the GPS receiver and to the system bus, the communication system providing a link for communicating information from the GPS receiver to the microprocessor.

3. A precise positioning system as in claim 2 wherein the communication system comprises a two-way radio communication system.

4. A communication system as in claim 2 wherein the communication system comprises an optical communication system.

5. A precise positioning system as in claim 2 further comprising an orientation sensor, the orientation sensor generating orientation information regarding the orientation of the structure, the orientation sensor coupled to the communication system, wherein the communication system further providing a link for communicating orientation information from the orientation sensor to the microprocessor.

6. A precise positioning system as in claim 5 wherein the orientation sensor comprises a gyro compass.

7. A precise positioning system as in claim 2 further comprising an attitude sensor, the attitude sensor generating pitch information regarding the structure, the attitude sensor coupled to the communication system, wherein the communication system further providing a link for communicating the pitch information from the orientation sensor to the microprocessor.

8. A precise positioning system as in claim 7 wherein the attitude sensor further generating roll information regarding the structure, and wherein the communication system further providing a link for communicating the roll information to the microprocessor.

9. A precise positioning system as in claim 8 wherein the attitude sensor comprises a tilt meter.

10. A precise positioning system as in claim 2 further comprising a pressure sensor, the pressure sensor generating depth information regarding the structure, the pressure sensor coupled to the communication system, wherein the communication system further providing a link for communicating the depth information from the pressure sensor to the microprocessor.